ROS Index
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
 |
 |
 |
 |
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file
CONTRIBUTING
No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Repository Summary
| Checkout URI | https://github.com/AndrejOrsula/pymoveit2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2026-09-17 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| pymoveit2 | 5.0.0 |
README
pymoveit2
Move a robot from Python by communicating with MoveIt 2 over ROS 2 actions and services
|
|
|
|
Joint Configuration |
Cartesian Pose |
Gripper Action |
Real-Time Servoing |
Installation
Binary package
sudo apt install ros-$ROS_DISTRO-pymoveit2
Python package
pip install pymoveit2
Docker image
cd $WS
git clone https://github.com/AndrejOrsula/pymoveit2.git
pymoveit2/.docker/run.bash $ROS_DISTRO --network-host --ipc-host --gui
Source build
cd $COLCON_WS
git clone https://github.com/AndrejOrsula/pymoveit2.git src/pymoveit2
rosdep install -y -r -i --rosdistro $ROS_DISTRO --from-paths src/pymoveit2
colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"
source install/local_setup.bash
Quick start (demo with Franka Emika Panda)
- Configure MoveIt 2 for your robot (install for widely available robots, or build one on your own):
sudo apt install ros-$ROS_DISTRO-moveit-resources-panda-moveit-config ros-$ROS_DISTRO-controller-manager
- Launch the MoveIt 2 setup for your robot:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
- Move the robot via
pymoveit2examples:
ros2 run pymoveit2 ex_joint_goal.py
Nothing moved? Run ros2 run pymoveit2 ex_doctor.py to investigate the problem.
Examples
Kinematics
# Forward (joint positions -> end effector pose)
ros2 run pymoveit2 ex_fk.py
# Inverse (end effector pose -> joint positions)
ros2 run pymoveit2 ex_ik.py --ros-args -p position:="[0.3, 0.0, 0.3]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]"
Motion planning and execution
File truncated at 100 lines see the full file